US3904042A - Manipulator apparatus - Google Patents

Manipulator apparatus Download PDF

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Publication number
US3904042A
US3904042A US445752A US44575274A US3904042A US 3904042 A US3904042 A US 3904042A US 445752 A US445752 A US 445752A US 44575274 A US44575274 A US 44575274A US 3904042 A US3904042 A US 3904042A
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US
United States
Prior art keywords
arm
joints
movement
controller
hand
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
US445752A
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English (en)
Inventor
John R Colston
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CBS Corp
Original Assignee
Westinghouse Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Westinghouse Electric Corp filed Critical Westinghouse Electric Corp
Priority to US445752A priority Critical patent/US3904042A/en
Priority to CA218116A priority patent/CA986550A/en
Priority to DE19752503003 priority patent/DE2503003A1/de
Priority to GB5726/75A priority patent/GB1499133A/en
Priority to IT20513/75A priority patent/IT1031940B/it
Priority to FR7505712A priority patent/FR2261845A1/fr
Priority to JP50022533A priority patent/JPS50118461A/ja
Application granted granted Critical
Publication of US3904042A publication Critical patent/US3904042A/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/146—Rotary actuators
    • B25J9/148—Rotary actuators of the oscillating vane-type

Definitions

  • ABSTRACT 2 Filed; Feb 25 9 Manipulator apparatus having an arm with a particular arrangement of relatively-movable parts intercon- [21] Appl' 445,752 nected by power-operated pivot and rotary joints which afford capability for the arm to assume grossly- 52 US. Cl 214/1 CM; 3/1.2 different Configurations While effecting Work functions [51] Int. Cl. B25J 3/00 Via its one end! and a hand-Operated controller for 58 Field of Search 214/1 CM; 3/1.2 Such arm, having a Similar arrangement of parts and joints, but being biased and constrained to be stiff- 5 References Cited jointed and have only one configuration, grossly.
  • manipulators are very often used when a particular environment is too hostile and/or difficult for a mans direct participation.
  • the manipulator provides an extension of the human arm capability.
  • a variety of control systems have been devised for controlling operation of manipulator arms.
  • One system for example, employs a plurality of selectively-operable individual controls for the several rotary actuators affiliated with the joints of the arm. This enjoys the advantage of being relatively simple, but requires a high degree of skill and experience to operate in view of the number and complexity of the arm joints involved.
  • Another system referred to as the master slave type, employs a hand controller that is a scaled replica of the arm being controlled and has the same degree of motion freedom as the parts and joints of the arm.
  • the present invention in providing a stiff-jointed hand-operated controller having parts and joints arranged similarly to those of the manipulator arm being controlled and torque-responsive means at the several joints controlling operation of respective actuators in the corresponding manipulator arm joints, affords a system which enjoys the advantages of the latter system set forth above, but without the need for coordinate transformation and the computer therefor.
  • FIG. 1 is a schematic representation in outline and in elevation of a manipulator system embodying the invention
  • FIG. 2 is a schematic representation of an exemplification of an electrohydraulically-controlled rotary actuator arrangement for employment in plurality in the manipulator system of the present invention
  • FIGS..3 and 4 are side elevation and top views, respectively, which show, in outline, a hand controller construction found to be suitable for employment in the present invention.
  • FIG. 5 is a schematic representation of an alternate arrangement for the exemplification of controlled rotary actuator shown in FIG. 2, to obtain control of actuator force absent in the FIG. 2 arrangement.
  • the manipulator arm apparatus of the present invention is affiliated with a mounting member 10, which, for example, may be the hull of an undersea vehicle, and such apparatus comprises, by way of illustrative embodiment, a manipulator arm 11 having an upper arm section 12, a lower arm section 13, and a terminal or hand section 14.
  • the upper arm section 12 is supported by and connected to the mounting member 10 at a shoulder region that provides for pivotal movement of the upper end of such upper arm section about a horizontal axis 15 and for rotary movement about a vertical axis 16.
  • the lower end of the upper arm section is pivotally connected to the one end of the lower arm section for turning movement about a horizontal axis 17.
  • the other end of lower arm section 13 is connected to the hand section 14 for relative pivotal movement about a horizontal axis 18.
  • the hand section 14 is turnable about an axis 19 which projects perpendicularly with respect to the axis 20.
  • the hand section 14 also is bendable about an axis 20 that is perpendicular to the axis 18.
  • a rotary actuator SRA provides for turning such shoulder, hence the entire arm 11, about the vertical axis 16, and a rotary actuator SPA provides for pivotal movement of such shoulder region and arm 11 about the horizontal axis 15.
  • a rotary actuator EPA provides for effecting relative pivotal movement of such ends about the axis 17.
  • an actuator WPA provides for relative pivotal or turning movement of such ends about the horizontal axis 18.
  • Actuators HPA and HRA provide for pivotal and rotary movement of the hand section 14 about the axes 20 and 19, respectively.
  • An actuator GA provides for effecting a grip action between two parallel fingers or jaws 21 and 22 of such hand section 14.
  • a hand controller 23 which includes upper arm, lower arm, and hand section parts 24, 25 and 26, respectively, arranged generally similarly to those corresponding arm parts 12, 13 and 14 of the manipulator arm.
  • Controller parts 24, 25 and 26 are interconnected by stiff leaf springs SRC, SPC, EPC, WPC, HPC and HRC that act to maintain the controller 23 in one general configuration of relatively angulated parts while permitting limited angular movement at these leaf spring joints sufficient to obtain a torque-responsive output for controlling the rotary actuators SRA, SPA, EPA, WPA, HPA and HRA respectively in the manipulator arm 11,
  • the limited flexure of the stiff leaf spring joints is measured by such as a number of variable resistors in the form of linear pots 30 actuated by stems 31; there being one pot 30 for each leaf spring.
  • a hand grip 32 or holding handle is provided the controller 23 for gripping and/or support by the left hand of a manipulator operator.
  • Hand grip 32 corresponds to the mounting member to which the manipulator arm 1 1 depends and is attached to one end of the shoulder rotate control leaf spring SRC.
  • a second hand grip 34 for grasping the operators right hand also is provided the controller 23.
  • Hand grip 34 corresponds to the hand section 14 of the manipulator arm 11 and is attached to one end of the hand rotate control leaf spring HRC.
  • a finger-operated push-pull ring 36 is affiliated with the projecting end of the right hand grip 34 to operate a respective linear pot for controlling the grip actuator GA in the hand section 14 of the manipulator arm 11.
  • the hand grip 32 is attached to a stand 38, which includes an upright and a base on which the controller can rest during nonusc, or, if desired, also during use.
  • the dot-and-dash lines 40 are intended to indicate operative respective control communications between the controller command joints and the actuators in the manipulator arm joints.
  • FIG. 2 an arrangement suitable for controlling operation of a hydraulic rotary actuator 42 at a joint in the manipulator arm is illustrated schemati cally therein.
  • the exemplified actuator 42 is in the form of a rotary vane type in behalf of simplification of description, but other types and operational modes also will suffice and may be preferred, without departing from the spirit and scope of the invention as defined by the appended claims.
  • the vane 43 of actuator 42 will be connected to one side of a pivotal or rotary joint in the manipulator arm and the housing 44 will be connected to the other side of such joint.
  • the vane By supply of hydraulic fluid under pressure to one of the sides 45 or 46 of the vane 43 while the opposite side is relieved of hydraulic fluid, the vane can be made to turn in a selected direction at a rate commensurate with'the rate of supplyrelease of such fluid.
  • the torque which may be developed by such vane will depend upon the pressure difference established across it.
  • the actuator 42 By employment of a well-known flow-control servo valve device such as available commercially in torque-motorcontrolled multi-stage form (not shown) the actuator 42 can be controlled according to operation of a respective linear pot 30 affiliated with a particular flexspring joint in the controller.
  • the pot 30 can be made to simultaneously control the degree of opening of one side of the vane 43 to a hydraulic pressure supply line 48 and the opposite vane side to a hydraulic return pressure line 49 by supplying of pot-varied control current to a pair of control windings 50 operatively coupled to a spool valve 51 biased by a pair of compression springs 52 toward a lap position in which fluid is retained at opposite vane sides, subject to relief which may be afforded for protection of the manipulator arm joint by such as connection of such vane sides to the return line 49 via springloaded check valves (not shown).
  • Movement of the spool valve 51 in one direction or the other as well as the extent of such movement depends upon the adjust ment of the pot 30 and this in turn determines the rate of flow of hydraulic fluid to and from the actuator 42 to cause vane turning at a commensurate rate.
  • the bias springs 52 Upon restoration of the pot 30 to a neutral position, such as occurs each time the manual input effort to the hand controller is relaxed, the bias springs 52 will return to the spool valve 51 to its lap position in which it is shown in the drawing.
  • the force of such a shove will not be controlled by the controller 23 when the servo-valves for the actuators are of the flowcontrol type, such as exemplified schematically in FIG. 2.
  • a pressure-control type of servo-valve device can be employed for the actuators, such as exemplified in simplifled schematic form in FIG. 5 where the servo-valve of FIG.
  • the arm joints will be caused to move at rates determined by rate of supply of hydraulic fluid to their actuators, up to the available limits determined by displacement of their spool valves 51 and their resistance to movement. So long as the control coils 50 maintain a control input force on the spool valve 51 in any given actuator circuit, corre sponding to persistence of command force at the controller 23, such control input force determines the maximum differential which can be established across the actuator vane, hence controls the degree of maximum torque that can be established at a particular arm joint, and coupled with the other joints in the arm, such torque control in turn determines the maximum degree of force deliverable by the arm to an external body or object.
  • Manipulator apparatus comprising,
  • a hand-operated single-configuration controller having parts corresponding to and arranged similar to the aforesaid work arm parts, with limitedmovement joints biased toward neutral positions and interconnecting such parts to permit limited angular movement from such neutral positions in the same directions as those of the corresponding joints in said work arm, and
  • control means including means responsive to the limited angular movement of the controller joints to effect operation of the aforesaid power actuators in the arm joints, respectively.
  • the joint-movement-responsive means coupled with said leaf springs constitute torque responsive means at the controller joints.
  • said work arm parts include an upper arm portion, a
  • the joints of said work arm include a pair of shoulder joints connecting an end of said upper arm to said mounting member and affording rotary and pivotal movement of said end about normally vertical and horizontal axes, respectively, an elbow pivot joint between the other end of said upper arm and one end of said lower arm for pivotal movement about a normally horizontal axis, and a wrist pivot joint between the other end of said lower arm and said hand section for pivotal movement about a normally-horizontal axis.
  • control means includes electro-hydraulic servo valve means for controlling operation of such actuators.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Servomotors (AREA)
  • Control Of Position Or Direction (AREA)
US445752A 1974-02-25 1974-02-25 Manipulator apparatus Expired - Lifetime US3904042A (en)

Priority Applications (7)

Application Number Priority Date Filing Date Title
US445752A US3904042A (en) 1974-02-25 1974-02-25 Manipulator apparatus
CA218116A CA986550A (en) 1974-02-25 1975-01-17 Manipulator apparatus
DE19752503003 DE2503003A1 (de) 1974-02-25 1975-01-25 Manipulator
GB5726/75A GB1499133A (en) 1974-02-25 1975-02-11 Manipulator apparatus
IT20513/75A IT1031940B (it) 1974-02-25 1975-02-21 Apparecchio manipolatore
FR7505712A FR2261845A1 (xx) 1974-02-25 1975-02-24
JP50022533A JPS50118461A (xx) 1974-02-25 1975-02-25

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US445752A US3904042A (en) 1974-02-25 1974-02-25 Manipulator apparatus

Publications (1)

Publication Number Publication Date
US3904042A true US3904042A (en) 1975-09-09

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Family Applications (1)

Application Number Title Priority Date Filing Date
US445752A Expired - Lifetime US3904042A (en) 1974-02-25 1974-02-25 Manipulator apparatus

Country Status (7)

Country Link
US (1) US3904042A (xx)
JP (1) JPS50118461A (xx)
CA (1) CA986550A (xx)
DE (1) DE2503003A1 (xx)
FR (1) FR2261845A1 (xx)
GB (1) GB1499133A (xx)
IT (1) IT1031940B (xx)

Cited By (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4000819A (en) * 1975-01-20 1977-01-04 Commissariat A L'energie Atomique Control arm for a power manipulator
US4078671A (en) * 1974-12-12 1978-03-14 Lundstrom Goran O Arrangement at industrial robots
US4196049A (en) * 1977-03-25 1980-04-01 Westinghouse Electric Corp. Segmented articulating manipulator arm for nuclear reactor vessel inspection apparatus
US4216467A (en) * 1977-12-22 1980-08-05 Westinghouse Electric Corp. Hand controller
US4239431A (en) * 1974-10-22 1980-12-16 Basfer S.R.L. Light-weight program controller
US4283764A (en) * 1979-10-12 1981-08-11 Nordson Corporation Manually programmable robot with power-assisted motion during programming
US4367532A (en) * 1979-10-12 1983-01-04 Nordson Corporation Manually programmable robot with power-assisted motion during programming
US4489624A (en) * 1981-04-01 1984-12-25 Zahnradfabrik Friedrichshafen Ag Triaxial hinge for robots, handling apparatus and the like
DE3519993A1 (de) * 1985-06-04 1986-12-04 Julius & August Erbslöh GmbH + Co, 5620 Velbert Steuergeraet zur betaetigung eines roboter-werkzeugkopfes
US4725178A (en) * 1984-12-11 1988-02-16 Reis Gmbh & Co. Programmable manipulator
DK152533B (da) * 1976-10-28 1988-03-14 Asahi Glass Co Ltd Fremgangsmaade til kontinuerlig fremstilling af en fiberforstaerket cementprodukt.
US5125759A (en) * 1991-02-04 1992-06-30 Chun Wendell H Adjustable compliant robotic wrist using an electro-rheological fluid
US5142930A (en) * 1987-11-10 1992-09-01 Allen George S Interactive image-guided surgical system
DE19649082C1 (de) * 1996-11-27 1998-01-08 Fraunhofer Ges Forschung Vorrichtung zur Fernsteuerung eines Werkzeugs
US6204619B1 (en) * 1999-10-04 2001-03-20 Daimlerchrysler Corporation Dynamic control algorithm and program for power-assisted lift device
US6204620B1 (en) * 1999-12-10 2001-03-20 Fanuc Robotics North America Method of controlling an intelligent assist device
US6313595B2 (en) 1999-12-10 2001-11-06 Fanuc Robotics North America, Inc. Method of controlling an intelligent assist device in a plurality of distinct workspaces
US20030204959A1 (en) * 2002-05-01 2003-11-06 Hall Kenneth Frank Precise positioning of an object
US6681880B2 (en) * 2000-10-20 2004-01-27 Deere & Company Control lever
US20040026584A1 (en) * 2002-05-14 2004-02-12 Automation Tool Company Articulating tool arm with positional feedback
US20060162988A1 (en) * 2002-12-03 2006-07-27 Monika Ivantysynova Hydraulic steering device for vehicles
US7244093B2 (en) * 2002-08-23 2007-07-17 Fanuc Ltd. Object handling apparatus
US20140154041A1 (en) * 2012-12-03 2014-06-05 Kabushiki Kaisha Yaskawa Denki Robot
CN103963994A (zh) * 2013-02-01 2014-08-06 上海新跃仪表厂 一种长半径虚轴角运动实现机构
CN105739538A (zh) * 2014-12-10 2016-07-06 上海机电工程研究所 基于机械臂运动装置的定位方法、定位测试装置及方法
RU2686220C1 (ru) * 2015-11-16 2019-04-24 Шлюмбергер Текнолоджи Б.В. Нижний стабилизирующий рычаг для буровой установки
US20190383109A1 (en) * 2018-06-15 2019-12-19 Rus-Tec Engineering, Ltd. Pipe Handling Apparatus

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4537547A (en) * 1981-10-23 1985-08-27 The United Kingdom Atomic Energy Authority Manipulator
DE3204180A1 (de) * 1982-02-06 1983-08-11 Hartmann & Lämmle GmbH & Co KG, 7255 Rutesheim "industrieroboter"
JPS59103002A (ja) * 1982-12-06 1984-06-14 Daikin Ind Ltd 電気−油圧サ−ボ弁
JPS61113733U (xx) * 1984-12-28 1986-07-18
CN111923072B (zh) * 2020-09-18 2020-12-22 湖南机电职业技术学院 一种夹取机械手

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2858947A (en) * 1953-11-16 1958-11-04 Garrett Corp Remote control manipulating apparatus
US3241687A (en) * 1965-03-10 1966-03-22 Moline Organisation Ltd Mechanical handling apparatus
US3414136A (en) * 1966-01-18 1968-12-03 North American Rockwell Underwater manipulator system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2858947A (en) * 1953-11-16 1958-11-04 Garrett Corp Remote control manipulating apparatus
US3241687A (en) * 1965-03-10 1966-03-22 Moline Organisation Ltd Mechanical handling apparatus
US3414136A (en) * 1966-01-18 1968-12-03 North American Rockwell Underwater manipulator system

Cited By (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4239431A (en) * 1974-10-22 1980-12-16 Basfer S.R.L. Light-weight program controller
US4300198A (en) * 1974-10-22 1981-11-10 Giorgio Davini Robot with light-weight, inertia-free programming device
US4078671A (en) * 1974-12-12 1978-03-14 Lundstrom Goran O Arrangement at industrial robots
US4000819A (en) * 1975-01-20 1977-01-04 Commissariat A L'energie Atomique Control arm for a power manipulator
DK152533B (da) * 1976-10-28 1988-03-14 Asahi Glass Co Ltd Fremgangsmaade til kontinuerlig fremstilling af en fiberforstaerket cementprodukt.
US4196049A (en) * 1977-03-25 1980-04-01 Westinghouse Electric Corp. Segmented articulating manipulator arm for nuclear reactor vessel inspection apparatus
US4216467A (en) * 1977-12-22 1980-08-05 Westinghouse Electric Corp. Hand controller
US4283764A (en) * 1979-10-12 1981-08-11 Nordson Corporation Manually programmable robot with power-assisted motion during programming
US4367532A (en) * 1979-10-12 1983-01-04 Nordson Corporation Manually programmable robot with power-assisted motion during programming
US4489624A (en) * 1981-04-01 1984-12-25 Zahnradfabrik Friedrichshafen Ag Triaxial hinge for robots, handling apparatus and the like
US4725178A (en) * 1984-12-11 1988-02-16 Reis Gmbh & Co. Programmable manipulator
DE3519993A1 (de) * 1985-06-04 1986-12-04 Julius & August Erbslöh GmbH + Co, 5620 Velbert Steuergeraet zur betaetigung eines roboter-werkzeugkopfes
US5142930A (en) * 1987-11-10 1992-09-01 Allen George S Interactive image-guided surgical system
US5125759A (en) * 1991-02-04 1992-06-30 Chun Wendell H Adjustable compliant robotic wrist using an electro-rheological fluid
DE19649082C1 (de) * 1996-11-27 1998-01-08 Fraunhofer Ges Forschung Vorrichtung zur Fernsteuerung eines Werkzeugs
US6204619B1 (en) * 1999-10-04 2001-03-20 Daimlerchrysler Corporation Dynamic control algorithm and program for power-assisted lift device
US6204620B1 (en) * 1999-12-10 2001-03-20 Fanuc Robotics North America Method of controlling an intelligent assist device
US6313595B2 (en) 1999-12-10 2001-11-06 Fanuc Robotics North America, Inc. Method of controlling an intelligent assist device in a plurality of distinct workspaces
US6681880B2 (en) * 2000-10-20 2004-01-27 Deere & Company Control lever
US20030204959A1 (en) * 2002-05-01 2003-11-06 Hall Kenneth Frank Precise positioning of an object
US6757985B2 (en) * 2002-05-01 2004-07-06 Kfh Design Limited Precise positioning of an object
US20040026584A1 (en) * 2002-05-14 2004-02-12 Automation Tool Company Articulating tool arm with positional feedback
US7055789B2 (en) * 2002-05-14 2006-06-06 Automation Tool Company Articulating tool arm with positional feedback
US7244093B2 (en) * 2002-08-23 2007-07-17 Fanuc Ltd. Object handling apparatus
US7896125B2 (en) * 2002-12-03 2011-03-01 Cnh Baumaschinen Gmbh Hydraulic steering device for vehicles
US20060162988A1 (en) * 2002-12-03 2006-07-27 Monika Ivantysynova Hydraulic steering device for vehicles
US20140154041A1 (en) * 2012-12-03 2014-06-05 Kabushiki Kaisha Yaskawa Denki Robot
CN103963994A (zh) * 2013-02-01 2014-08-06 上海新跃仪表厂 一种长半径虚轴角运动实现机构
CN103963994B (zh) * 2013-02-01 2017-01-18 上海新跃仪表厂 一种长半径虚轴角运动实现机构
CN105739538A (zh) * 2014-12-10 2016-07-06 上海机电工程研究所 基于机械臂运动装置的定位方法、定位测试装置及方法
RU2686220C1 (ru) * 2015-11-16 2019-04-24 Шлюмбергер Текнолоджи Б.В. Нижний стабилизирующий рычаг для буровой установки
US10294739B2 (en) 2015-11-16 2019-05-21 Schlumberger Technology Corporation Lower stabilizing arm for a drilling rig
US20190383109A1 (en) * 2018-06-15 2019-12-19 Rus-Tec Engineering, Ltd. Pipe Handling Apparatus
US10822890B2 (en) * 2018-06-15 2020-11-03 Rus-Tec Engineering, Ltd. Pipe handling apparatus

Also Published As

Publication number Publication date
JPS50118461A (xx) 1975-09-17
IT1031940B (it) 1979-05-10
DE2503003A1 (de) 1975-08-28
CA986550A (en) 1976-03-30
FR2261845A1 (xx) 1975-09-19
GB1499133A (en) 1978-01-25

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